void Main_Initialization()
{
Agx_Simulation.Start(dt); //Starts the sim.
dir = Application.streamingAssetsPath; //Get the path of the streaming assets
//If I start with 3 modules. Then, each time user clicks "Add Module", it adds a new module to the simulation (sim will be started, but not timestep).
//LOAD:
Scenario scenario = Deserialize <Scenario>();
/* Loading the directories for the object files */
load_FrameDirectories(scenario.robot);
Load_Robot(scenario.robot);
Load_Scene(scenario.scene);
simulation_Running = true;
Visualization.enabled = true;
if (Visualization.enabled)
{
Load_Vis();
}
SetContactPoints();//if custom contact points: move to MainInitialization().
InvokeRepeating("Update_Sim", 0, dt);
}
void Update_Sim()
{
if (simulation_Running)//Check if simulation is paused
{
Agx_Simulation.StepForward();
//Check if a button has been pressed
//CheckInputs();
if (simulationTime >= 2) //Wait for robot to settle on terrain
{
if (!Dynamics.Control(robot, simulationTime)) //Movement
{
Debug.Log("wrong command");
}
}
robot.Update();
if (Visualization.enabled)
{
Update_Vis();
}
simulationTime += Time.deltaTime;
}
//Else:
//Start the canvas overlay to modify and create new modules
}
public void LoadFromXml(string path)
{
//get robot
//design finished
//deserialize
if (!simulation_Started)
{
dir = Application.streamingAssetsPath;//Get the path of the streaming assets
Clear_Vis();
Reset_Opti();
Agx_Simulation.Start(dt); //Starts the sim.
simulation_Started = true; // true;
simulation_Running = false;
try { scenario = Deserialize <Scenario>(path); }
catch (FileNotFoundException e)
{
Debug.Log("Scenario not found! " + e);
AgX_Interface.AgX_Assembly.RemoveFromSim();
AgX_Interface.Agx_Simulation.Stop();
UnityEngine.SceneManagement.SceneManager.LoadScene(0);
}
SetContactFriction();//if custom contact points: move to MainInitialization().
CancelInvoke();
Dynamics.nextAction = "Idle";
//scenario = Deserialize<Scenario>(Application.streamingAssetsPath + "/XML/Scenario.xml");
robot = Load_Robot(scenario.robot);
/* Loading the directories for the object files */
Load_FrameDirectories(robot);
sceneObjects = LoadSceneObjects(scenario.sceneObjects);
//possibly remove this
scene = new Scene(); Load_Scene(scenario.scene);
Visualization.enabled = true;
if (Visualization.enabled)
{
Load_Vis();
Update_Vis(robot);
}
if (finalizeButton != null)
{
finalizeButton.SetActive(false);
}
}
else
{
Debug.Log("Must load before simulation is started");//UnityEditor.EditorUtility.DisplayDialog("Load/Save error!", "Must load before simulation is started", "Ok");
}
}
void Stop()
{
Visualization.enabled = false;
simulation_Running = false;
Agx_Simulation.RemoveSimObjects();
simulation_Started = false;
Clear_Vis();
}
void SetContactFriction()
{
//Foreach in scenario.contactmats:
if (scenario.contactFrictions.Count == 0)
{
Agx_Simulation.AddContactMaterial("Plastic", "Rock", 0.4f, 0.3f, 3.654E9);//Standard plastic and rock
}
foreach (ContactFriction cf in scenario.contactFrictions)
{
Agx_Simulation.AddContactMaterial(cf.material1, cf.material2, cf.restitution, cf.friction, cf.youngsModulus);
}
}
// Update is called once per frame
void Update_Sim()
{
//Update physics:
Agx_Simulation.StepForward();
//Update the robot:
robot.Update();
//Update the visualization:
{
//Frames:
FrameDemoVis[0].transform.position = AgxHelper(robot.modules[0].frames[0].position);
FrameDemoVis[0].transform.rotation = (AgxHelper(robot.modules[0].frames[0].quatRotation));
FrameDemoVis[1].transform.position = AgxHelper(robot.modules[0].frames[1].position);
FrameDemoVis[1].transform.rotation = (AgxHelper(robot.modules[0].frames[1].quatRotation));
//Scene object:
sceneobjvis.transform.position = AgxHelper(sceneobj.position);
}
robot.modules[0].joint.SetAngle(2);
}
Robot robot;//Global for pos/rot update
//Robot OriginalRobot = new Robot();
void Main_Initialization()
{
dir = Application.streamingAssetsPath;//Get the path of the streaming assets
if (!simulation_Started)
{
Clear_Vis();
Reset_Opti();
Agx_Simulation.Start(dt);//Starts the sim.
simulation_Started = true;
CancelInvoke();
Dynamics.nextAction = "Idle";
//Load:
scenario = Deserialize <Scenario>(Application.streamingAssetsPath + "/XML/Scenario.xml");
SetContactFriction();
// Loading the directories for the object files
Load_FrameDirectories(scenario.robot);
robot = Load_Robot(scenario.robot);
sceneObjects = LoadSceneObjects(scenario.sceneObjects);
scene = new Scene(); Load_Scene(scenario.scene);
//SetMovementVariables();
Visualization.enabled = true;
if (Visualization.enabled)
{
Load_Vis();
Update_Vis(robot);
}
}
}
void SetContactPoints()
{
Agx_Simulation.AddContactMaterial("Plastic", "Rock", 0.4f, 0.3f, (float)3.654E9);
}
/* Movement commands for the robot: */
/*void CheckInputs()
* {
* if (Input.GetButtonUp("Turn"))
* {
* Dynamics.SetMovement("Turn", 0, Math.Sign(Input.GetAxis("Turn")));
* }
* if (Input.GetButtonUp("Forward"))
* {
* Dynamics.SetMovement("Forward", Math.Sign(Input.GetAxis("Forward")), 0);
* }
* if (Input.GetButtonUp("Reset"))
* {
* Dynamics.SetMovement("Reset", 0, 0);
* }
* if (Input.GetButtonUp("Idle"))
* {
* Dynamics.SetMovement("Idle", 0, 0);
* }
* if (Input.GetButtonUp("Speed"))
* {
* Dynamics.ChangeSpeed((float)Math.Sign(Input.GetAxis("Speed")));
* }
* }*/
void OnApplicationQuit()///When Unity closes, shutdown AgX.
{
Agx_Simulation.Stop();
Debug.Log("Application ending after " + Time.time + " seconds");
}
void Update_Sim()
{
if (simulation_Running)//Check if simulation is paused
{
//Debug.Log(robot.modules[0].position.x+","+robot.modules[0].position.y+","+robot.modules[0].position.z);
Agx_Simulation.StepForward();
//Check if a button has been pressed
//CheckInputs();
if (simulationTime >= 2) //Wait for robot to settle on terrain
{
if (!Dynamics.Control(robot, simulationTime, dynamicVariables)) //Movement
{
Debug.Log("wrong command");
}
}
robot.Update();
//Update scene objects
foreach (SceneObject so in sceneObjects)
{
so.Update();
}
/*
* //distancesensor
* string distances = "";
* foreach (DistanceSensor ds in robot.sensorModules[0].distanceSensors)
* {
* ds.CalculateDistance(sceneObjects);
* distances += ds.GetSensorDistance().ToString()+",";Debug.Log("working");
* }
*
* if(distances !="")
* Debug.Log(distances);
*/
//Update visualization
if (Visualization.enabled)
{
Update_Vis(robot);
}
//Debug.Log(robot.sensorModules[0].forceSensor.forceValue);
simulationTime += Time.deltaTime;
}
//calculate distances
foreach (SensorModule mod in robot.sensorModules)
{
foreach (DistanceSensor ds in mod.distanceSensors)
{
ds.CalculateDistance(sceneObjects);
}
}
//IF Analytics checked, saveData.(if count = 10, count = 0 and saveData?)
if (Analytics_Visualization.Enabled)
{
int result = Analytics_Visualization.SaveData(robot, Time.time);
switch (result)
{
case 0: break;
case 1: break;
case 2: break;
case 3: break;
case 4: break;
case 5: break;
case 6: Debug.Log("Read/Write error(folder not existing)"); break;
case 7: Debug.Log("No Filename"); break;
default: Debug.Log("Unspecified Error"); break;
}
}
}
void Start()
{
//Start simulation:
Agx_Simulation.Start(0.01);
//Setting position and rotations:
var pos = new AgX_Interface.Vector3(0, 0, 0);
var u_quat = UnityEngine.Quaternion.Euler(0, 90, 0);
AgX_Interface.Quaternion frame_rot = new AgX_Interface.Quaternion(u_quat.x, u_quat.y, u_quat.z, u_quat.w);
//Create Frames:
Frame[] frames = new Frame[2];
for (int i = 0; i < 2; i++)
{
frames[i] = new Frame()
{
guid = Guid.NewGuid(),
position = pos,
scale = 10,
quatRotation = frame_rot,
//rotation = rot,
mass = 10,
isStatic = false,
materialName = "Plastic"
};
}
//download mesh obj file:
loadmesh();
//Set mesh of frames:
frames[0].SetMesh(AgxHelper(leftmesh.vertices), AgxHelper(leftmesh.uv), leftmesh.triangles);
frames[1].SetMesh(AgxHelper(rightmesh.vertices), AgxHelper(rightmesh.uv), rightmesh.triangles);
//Create Joint:
Simulation_Core.Joint joint = new Simulation_Core.Joint()
{
guid = Guid.NewGuid(),
leftFrameGuid = frames[0].guid,
rightFrameGuid = frames[1].guid,
type = "Hinge",
lowerRangeLimit = -Math.PI / 2,
upperRangeLimit = Math.PI / 2,
max_vel = Math.PI / 6,
Kp = 3
};
//Create Module:
var module = new Module();
module.Create(frames[0], joint, frames[1]);
//Add module to robot:
robot.Add_Module(module);
//Add second module to robot:
//robot.Add_Module(module2,new Simulation_Core.Joint());
//Initialize robot:
robot.Initialize();
//Scene object:
sceneobj = new SceneObject()
{
guid = Guid.NewGuid(),
shape = "Box",
size = new AgX_Interface.Vector3(5, 1, 10),
position = new AgX_Interface.Vector3(0, -2, 0),
quatRotation = new AgX_Interface.Quaternion(0, 0, 0, 1),
materialName = "Rock",
mass = 10,
isStatic = true
};
sceneobj.Initialize();
//Load vis from mesh and robot + scene object:
Load_Vis();
//Start sim update loop:
InvokeRepeating("Update_Sim", 0.01f, 0.01f);
}
